Apparatus and method for sensing of three-dimensional environmental information

ABSTRACT

An apparatus for providing information about a three-dimensional environment to a user includes; a handle, at least one sensor operatively coupled to the handle, a tactile pad disposed on the handle, a plurality of tactile buttons arrayed on the tactile pad, a plurality of actuators, wherein each actuator is operatively coupled to one of the plurality of tactile buttons to control a height thereof in relation to the tactile pad, and a processor which receives signals from the at least one sensor and controls positioning of the plurality of actuators to represent a physical environment sensed by the at least one sensor.

BACKGROUND

The present invention relates generally to an apparatus for sensing ofthree-dimensional environmental information and a method of operatingthe same, more particularly, to an apparatus which provides informationabout a person's surroundings through a tactile output and a method ofoperating the same.

Currently, the nearly 300,000 blind and visually impaired people in theUnited States utilize conventional mobility canes which provide a verylimited amount of information about their surrounding environment. Aconventional mobility cane only provides information about the spacesurrounding a user which may be physically touched by the cane.

Various apparatus have been developed to provide blind people withinformation about the surrounding environment beyond the physical reachof the conventional cane. These devices typically rely on an acousticelement to provide information to the user. One example of such a deviceis an acoustic cane which provides sensing information through soundfeedback, e.g., echo location. The acoustic cane emits a noise whichreflects, or echoes, from objects within the blind person's environment.The blind person then interprets the echoes to decipher the layout ofthe surrounding environment. Similarly, other devices may emit light anddetect reflection of the emitted light from obstacles. These devicesalso rely on an audio signal such as a click or a variably pitched beepto convey obstacle detection information to the user.

Devices relying on an audio signal for information conveyance are notwell suited for noisy environments such as heavily trafficked streetswhere audible signals are difficult to detect and interpret. Thesedevices are especially ill suited for deaf and blind individuals who areincapable of receiving the audio signals. Other drawbacks to theacoustic cane and other audio devices include that they may drawunwanted attention to the user and or interfere with the user's sense ofhearing.

Accordingly, it is desirable to provide a method and apparatus forincreasing the information gathering range of blind or blind and deafpeople beyond the range of a conventional cane and supplying thegathered information to the user in real time and in a way which may beeasily perceived in high noise level environments by both hearing andnon-hearing individuals.

SUMMARY

The foregoing discussed drawbacks and deficiencies of the prior art areovercome or alleviated, in an exemplary embodiment, by an apparatus forproviding information about a three-dimensional environment to a userincludes; at least one sensor, a processor which receives signals fromthe at least one sensor and operatively controls a plurality ofactuators to represent a physical environment sensed by the at least onesensor, and a plurality of tactile buttons, wherein each tactile buttonis operatively coupled to at least one of the plurality of actuators.

In another exemplary embodiment, a method of providing information abouta three-dimensional environment to a user includes; transmitting atleast one sensing signal to an environment, receiving a modified sensingsignal from the environment, and controlling positions of a plurality ofactuators operatively coupled to a plurality of tactile buttons, thecontrolling being based on the modified sensing signal.

In another exemplary embodiment an apparatus for providing informationabout a three-dimensional environment to a user, the apparatusincluding; a handle, at least one sensor operatively coupled to thehandle, a tactile pad disposed on the handle; a plurality of tactilebuttons arrayed on the tactile pad; a plurality of actuators, whereineach actuator is operatively coupled to one of the plurality of tactilebuttons to control a height thereof in relation to the tactile pad, anda processor which receives signals from the at least one sensor andcontrols positioning of the plurality of actuators to represent aphysical environment sensed by the at least one sensor.

BRIEF DESCRIPTION OF THE DRAWINGS

Referring to the exemplary drawings wherein like elements are numberedalike in the several Figures:

FIG. 1 is a side perspective view of an exemplary embodiment of anapparatus for sensing of a three-dimensional environment according tothe present invention;

FIG. 2 is a magnified bottom perspective view illustrating the handle ofthe exemplary embodiment of an apparatus of FIG. 1;

FIG. 3 is a cross-sectional view of the exemplary embodiment of anapparatus taken along line III-III′ of FIG. 2;

FIG. 4 is a top plan perspective view illustrating sensor ranges of theexemplary embodiment of an apparatus of FIG. 1;

FIGS. 5A, 6A, 7A, 8A, 9A, 10A and 11A are schematic top down viewsillustrating a first, second, third, fourth, fifth, sixth and seventhstep, respectively, in an exemplary embodiment of a method of operatingthe exemplary embodiment of an apparatus according to the presentinvention; and

FIGS. 5B, 6B, 7B, 8B, 9B, 10B and 11B are bottom perspective views ofthe exemplary embodiment of the apparatus according to the first,second, third, fourth, fifth, sixth and seventh step, respectively, inthe exemplary embodiment of a method of operating the exemplaryembodiment of an apparatus according to the present invention.

DETAILED DESCRIPTION

Disclosed herein is an apparatus for increasing the informationgathering range of blind or blind and deaf people beyond the range of aconventional mobility cane and supplying the gathered information to theuser in real time and in a way which may be easily perceived in highnoise level environments by both hearing and non-hearing individuals anda method of operating the same. Briefly stated, a combination ofinfrared and ultrasonic sensing information is processed to control theheight of a plurality of buttons on a tactile pad of a walking cane. Inso doing, three-dimensional information about the surroundingenvironment may be provided to a user. Furthermore, the tactile feedbackmechanism may be used in high noise environments and by users withlimited hearing.

Referring now to FIGS. 1-4, there are shown a side perspective view ofan exemplary embodiment of an apparatus 1 for sensing of athree-dimensional environment according to the present invention, amagnified bottom perspective view illustrating the handle of theapparatus 1, a cross-sectional view of the apparatus 1 and a top planperspective view illustrating the sensor of the apparatus 1,respectively.

As shown in FIG. 1, an exemplary embodiment of an apparatus 1 includes ashaft 10 connected to a handle 20, similar to a conventional mobilitycane. However, unlike a conventional mobility cane, the presentapparatus includes a sensor mast 30. The sensor mast 30 may serve as amount for a wide array of sensor apparatus as commonly known in the art.As shown in FIG. 4, in the present exemplary embodiment, the apparatus 1includes an ultrasonic sensor 40, which includes first and secondindividual ultrasonic sensors 40 a and 40 b, respectively, to emitultrasonic signals 45 including first and second ultrasonic signals 45 aand 45 b. The present exemplary embodiment also includes an infraredsensor 50, which includes first, second and third infrared sensors 50 a,50 b and 50 c, respectively, to emit infrared signals 55 includingfirst, second and third infrared signals 55 a, 55 b and 55 c. Both theultrasonic sensor 40 and the infrared sensor 50 are mounted on thesensor mast 30. Alternative exemplary embodiments include configurationswherein only one sensing apparatus, e.g., only the ultrasonic sensor 40or only the infrared sensor 50 are disposed on the sensing mast 30.Alternative exemplary embodiments also include configurations whereinalternative sensing apparatus, such as apparatus using lasers or radar,are mounted on the sensing mast 30.

As shown in FIG. 4, the sensors 40 and 50 emit signals 45 and 55,respectively, to the environment. The ultrasonic sensor 40 includes thefirst ultrasonic sensor 40 a emitting the first ultrasonic signal 45 aand the second ultrasonic sensor 40 b emitting the second ultrasonicsignal 45 b. The first and second ultrasonic sensors 40 a and 40 b areslightly offset from one another so as to provide an offset signalrange. The first, second and third infrared sensors 50 a-c are similarlyoffset so the emitted infrared signals 55 a, 55 b and 55 c are alsooffset in different directions. This provides the apparatus 1 with abroad range of sensor coverage.

The emitted signals are then reflected from objects in the environment,such as walls, columns, trees, etc., and the sensors 40 and 50 detectthese reflected signals. Each sensor has a predetermined range for thedetection of reflections. In one exemplary embodiment the infraredsensor 50 may detect objects at up to three feet and the ultrasonicsensor 40 may detect objects at up to ten feet. The detected signals arethen processed by a processor to be described in more detail below.

As shown in FIG. 3, the present exemplary embodiment of an apparatus 1also includes various modifications to the handle 20. The handle 20includes a tactile pad 60, a plurality of buttons 65 attached to thetactile pad 60, a handle positioner 70, a reset button 80, and variousother components 150.

As shown in FIGS. 2 and 3, the handle 20 incorporates a tactile pad 60including a plurality of buttons 65 which enable tactile feedback ofinformation sensed from the sensors 40 and 50 positioned on the sensormast 30, as shown in FIG. 1. An actuator such as a solenoid 66 powerseach of the plurality of buttons 65. The solenoid 66 further includes amagnetic coil 67 with a ferromagnetic rod 68 disposed therein. Thesolenoid may move the ferromagnetic rod 68 within the magnetic coil 67.As shown in FIG. 3, the ferromagnetic rod 68 may be positioned to forcethe rubber button 65 positioned above it to project from the surface ofthe tactile pad 60. For the purposes of illustration as shown in FIG. 2,herein, buttons 65 which are projected from the tactile pad 60 will beillustrated in white, while buttons 65 which are not being projected bythe plurality of actuators will be illustrated in gray. Alternativeexemplary embodiments include configurations wherein various otheractuators may be used instead of, or in conjunction with, the solenoids66.

In one exemplary embodiment, the solenoids 66 are latching solenoidswhich can pass current through the magnetic coil 67 in either directionto control the position of the ferromagnetic rod 68. Latching solenoidshave the advantage of being able to control the position of theferromagnetic rod 68 without having to constantly maintain currentthrough the magnetic coil 67, and therefore such solenoids offerimproved power consumption profiles in portable applications.

The solenoids 66 are connected to a circuit board 100 through electricalconnections 101. The circuit board 100 is also electrically connected toa processor 110, a power supply 120, a vibrator 130, the reset button80, and the sensors on the sensor mast 30 is connected via signal line140. The other components 150 may include an orientation apparatus (notshown) which provides orientation information about the apparatus'sposition in space. Exemplary embodiments of the orientation apparatusinclude accelerometers and various other mechanisms as commonly known inthe art.

The sensors 40 and 50, the processor 110, the tactile pad 60, thevibrator and various other components are powered by the power supply120. The power supply 120 may be a battery, a fuel cell or various othercomponents as commonly known in the art.

Analog information from the ultrasonic sensors 40 and the infraredsensors 50 is input to an analog to digital converter (not shown) beforebeing sent to the processor 110. The processor 110 processes theconverted signals from the sensors 40 and 50 to determine informationabout the surrounding environment. The processor 110 specificallyinterprets the signals received from the sensors 40 and 50 along signalline 140 to determine distances and directions to potential obstacleswithin the sensor ranges. The processor then supplies the processedinformation to a digital to analog converter (not shown) beforesupplying the information to the vibrator 130 and the plurality ofsolenoids 66 to provide information about the surrounding environment tothe user through tactile feedback. The handle positioner 70 allows auser to ensure consistent hand positioning with respect to the tactilepad 60.

In the present exemplary embodiment information from different sensorsmay be displayed at different positions on the tactile pad 60, e.g.,information obtained from the infrared sensor 50 may be output tosolenoids 66 in the rows closest to the handle positioner 70 andinformation obtained from the ultrasonic sensor 40 may be output to thesolenoids 66 in rows further from the handle positioner 70. In oneexemplary embodiment each subsequent row of buttons from the handlepositioner 70 displays information corresponding to an increase of onefoot of distance from the sensor mast 30, e.g. the first row of buttons65 displays information corresponding to sensor information from onefoot away, the second row of buttons 65 displays informationcorresponding to sensor information from two feet away, etc.

Hereinafter an exemplary embodiment of a method of operating theapparatus 1 will be described with reference to FIGS. 5A-11B. FIGS.5-11A are schematic top down views illustrating steps in an exemplaryembodiment of a method of operating the exemplary embodiment of anapparatus 1 according to the present invention and FIGS. 5-11B arebottom perspective views of the exemplary embodiment of the apparatus 1according to the steps in the exemplary embodiment of a method ofoperating the exemplary embodiment of an apparatus 1 according to thepresent invention.

FIGS. 5A-11B illustrate an exemplary embodiment of a method of operatingthe exemplary embodiment of an apparatus 1 according to the presentinvention wherein a user 1000 is approaching and subsequentlymaneuvering within a hallway with sides 200A and 200B and maneuveringaround an obstacle 300. Referring now to FIGS. 1 and 5A-B, a user 1000performs an initial setup process by placing the tip of the apparatus 1on the ground and pressing the reset button 80 on the handle 20. Thisprepares the apparatus 1 to begin receiving spatial information aboutits surroundings by clearing any previous environmental data.

The user 1000 then sweeps the apparatus 1 in a left-to-right andright-to-left motion, similar to the motion used in a conventionalmobility cane. However, unlike the conventional mobility cane, theexemplary embodiment of an apparatus 1 is not required to physicallycontact the ground or other objects surrounding the user 1000.

As shown in FIG. 5A, at the peak of the initial sweep to the left theuser 1000 presses the reset button 80 as part of an initializationprocess that sets parameters for feedback from the tactile pad 60 andthe vibrator 130. Pressing the reset button 80 here signals theprocessor 110 that the sweep to the left has reached its furthest pointand assigns any information processed from the area directly in front ofthe apparatus 1 to the leftmost side of the tactile pad 60. It is alsonecessary to press the reset button here in case the apparatus 1 has noreflections to track to determine a change in the apparatus 1's motion.

The processor 110 then interprets data from the sensors 40 and 50. Inthe environment shown in FIG. 5A, the user 1000 encounters the wall 200Aat the peak of the initial sweep to the left. The sensors 40 and 50detect reflections of their individually output signals from the wall200A. The sensors 40 and 50 send the reflection information to theprocessor 110 which interprets the received reflections as the presenceof a solid object and generates a map corresponding to the location ofthe solids.

The processor can determine the direction of motion of an objectrelative to the apparatus 1; this is especially facilitated by thesensors 40 and 50 including several offset sensors. As shown in FIG. 5A,the wall 200A is detected first by the second ultrasonic sensor 40 bwhich is offset to the left. The wall 200A is then subsequently detectedby the second ultrasonic sensor 40 b. The processor is able to determinethat the object has moved from the leftmost sensor range into a middle,or overlapping, sensor range and therefore the apparatus 1 is moving ina right-to-left motion. The processor determines the direction of themotion and outputs the processed information to the tactile pad 60. Inone exemplary embodiment the processor 110 outputs a new map wheneverthe processor 110 determines a change in the direction of the apparatus1's motion, e.g., from moving left to moving right. This allows anupdated set of information to be displayed after every sweep of theapparatus 1.

Alternative exemplary embodiments include configurations wherein theprocessor determines the direction of motion and or the orientation ofthe apparatus 1 from an orientation apparatus such as an accelerometerin conjunction with, or instead of, the motion sensing method describedabove. Additional alternative exemplary embodiments includeconfigurations wherein new maps are processed and output by theprocessor 110 at various other times, such as the middle of aright-to-left or left-to-right sweep, after several sweeps, or at anytime which is convenient for that particular application. In oneexemplary embodiment maps are output to the tactile pad 60 while theyare being generated, this allows for real-time display of thethree-dimensional environmental information.

FIG. 5B illustrates that in response to the processed reflectioninformation, the processor 110 outputs the map generated from processingthe received reflections from the sensors 40 and 50 to the tactile pad60. The tactile pad displays the map by activating a solenoid 66 whichprojects a rubber button 65 on the tactile pad 60. Because the apparatus1 has been recently reset as described above, the tactile pad 60contains only the three-dimensional environmental information which hasbeen input since the first depressing of the reset button 80. Also, theprocessor outputs the information about the leftmost part of theenvironment on the leftmost part of the tactile pad 60 (the left portionof FIG. 5B). The leftmost part of the environment is determined by thepressing of the reset button at the peak of the swing to the left. Thepressing of the reset button ensures that the processor 110 is awarethat the right-to-left sweep is finalized in case the apparatus 1 has noreflections to track changes in the apparatus 1's motion.

As shown in FIG. 6A, at the peak of the initial sweep to the right theuser 1000 again presses the reset button 80. Pressing the reset button80 here finalizes parameters for feedback from tactile pad 60 and thevibrator 130. In the environment shown in FIG. 6A, the user 1000encounters the wall 200B at the peak of the initial sweep to the right.The sensors 40 and 50 detect reflections of their individually outputsignals from the wall 200B. The sensors 40 and 50 send the reflectioninformation to the processor 110 which interprets the receivedreflections as the presence of a solid object and generates a map to beoutput to the solenoids 66.

FIG. 6B illustrates that in response to the processed reflectioninformation, the processor activates a solenoid 66 which projects arubber button 65 on the tactile pad 60. The processor outputs theinformation from the left-to-right sweep to the tactile pad 60. Theprocessor outputs the information about the rightmost part of theenvironment on the rightmost part of the tactile pad 60 (the rightportion of FIG. 6B). Pressing the reset button 80 here signals theprocessor 110 that the sweep to the right has reached its furthest pointand assigns any information processed from the area directly in front ofthe apparatus 1 to the rightmost side of the tactile pad 60. Thisensures that the map generated by the processor 110 displays informationcorresponding to the region between the two presses of the reset button80. It is also necessary to press the reset button here in case theapparatus 1 has no reflections to track changes in the apparatus 1'smotion.

The leftmost and rightmost region defining process described above needonly be performed once after resetting the apparatus 1; subsequentsweeps of the cane need not include a pressing of the reset button. Inone exemplary embodiment, if the sensors 40 and 50 do not detect anobstacle during the course of either the first right-to-left orleft-to-right sweeps the user continues to press the reset button at thepeak of each right-to-left and left-to-right sweep until an object isdetected which allows the processor to determine the sweep direction.

Referring now to FIGS. 7A and 7B the user 1000 again sweeps theapparatus 1 to the left while moving in a forward motion. The sensors 40and 50 continue to detect reflections of their output signals and sendthat information to the processor 110. The processor 110 then creates amap to output to the tactile pad 60.

The tactile pad 60 displays a series of raised buttons 65 on theleftmost and rightmost sides in accordance with the parameters set bythe user 1000. The raised buttons 65 indicate that the distance betweenthe walls 200A and 200B and the user 1000 has decreased. The walls 200Aand 200B are no longer indicated as being at the last row of buttonscorresponding to the edge of the sensor range, instead the projectedbuttons extend 7 rows deep into the tactile pad corresponding to anobject being well within the sensor range. The user 1000 then interpretsthe raised buttons 65 on the tactile pad 60 as distance information toan obstacle. An obstacle 300, such as a column, is present in theschematic top down view of FIG. 7A; however, the object 300 is not yetwithin range of the sensors 40 and 50 and so it is not reflected on thetactile pad 60.

Referring now to FIGS. 8A and 8B the user 1000 again sweeps theapparatus 1 to the right while moving in a forward motion. The sensors40 and 50 continue to detect reflections of their output signals andsend that information to the processor 110. The processor 110 thencreates a map to output to the tactile pad 60.

The tactile pad 60 displays a series of raised buttons 65 on theleftmost and rightmost sides in accordance with the parameters set bythe user 1000. The raised buttons 65 indicate that the distance betweenthe walls 200A and 200B and the user 1000 has decreased until the walls200A and 200B are detectable by all the sensors 40 and 50 on theapparatus 1 and surround the user 1000. In addition to the walls 200Aand 200B, the obstacle 300 is within range of the ultrasonic sensors 40.The obstacle 300 is located relatively far away from and to the right ofthe user 1000. The sensors also provide information about the obstacle300's size. The processor 110 interprets this information from thesensors and outputs a map where the solenoids 66 represent the obstacle300 as two raised buttons 65 on the last row of the tactile pad 60corresponding to the obstacle 300's size and location relative to thesensors 40 and 50. The user 1000 then interprets the raised buttons 65on the tactile pad 60 as distance and direction information to anobstacle.

Referring now to FIGS. 9A and 9B the user 1000 again sweeps theapparatus 1 to the left while moving in a forward motion. The sensors 40and 50 continue to detect reflections of their output signals and sendthat information to the processor 110. The processor 110 then creates amap to output to the tactile pad 60.

The tactile pad 60 displays a series of raised buttons 65 on theleftmost and rightmost sides in accordance with the parameters set bythe user 1000. The raised buttons 65 on the leftmost and rightmost sidesof the tactile pad 60 indicate that the user 1000 is still surrounded bythe walls 200A and 200B. The obstacle 300 is now detectable by both theultrasonic sensors 40 and the infrared sensors 50. The entire obstacle300 is within range of the ultrasonic sensors 40. Therefore, theprocessor 110 interprets this information from the sensors as sizeinformation about the obstacle 300 and generates a map which displaysthe obstacle 300 as four raised buttons 65 on the right side of thetactile pad 60 corresponding to the obstacle 300's size and locationrelative to the sensors 40 and 50. In the exemplary embodiment whereineach row of buttons indicates sensor information of a distance of aboutone foot, the obstacle 300 would be approximately four feet long and twofeet wide. The user 1000 then interprets the raised buttons 65 on thetactile pad 60 as distance and direction information to an obstacle.

Referring now to FIGS. 10A and 10B the user 1000 again sweeps theapparatus 1 to the right while moving in a forward motion. The sensors40 and 50 continue to detect reflections of their output signals andsend that information to the processor 110. The processor 110 thencreates a map to output to the tactile pad 60.

The tactile pad 60 displays a series of raised buttons 65 on theleftmost and rightmost sides in accordance with the parameters set bythe user 1000. The raised buttons 65 on the leftmost and rightmost sidesof the tactile pad 60 indicate that the user 1000 is still surrounded bythe walls 200A and 200B. The obstacle 300 is still detectable by boththe ultrasonic sensors 40 and the infrared sensors 50. The majority ofthe obstacle 300 is now within range of the infrared sensors 50. Due tothe user 1000's forward motion, the obstacle 300 is now represented asraised buttons 65 closer to the handle positioner 70. The user 1000 theninterprets the raised buttons 65 on the tactile pad 60 as distance anddirection information to an obstacle.

Finally, referring now to FIGS. 11A and 11B the user 1000 again sweepsthe apparatus 1 to the left while moving in a forward motion. Thesensors 40 and 50 continue to detect reflections of their output signalsand send that information to the processor 110. The processor 110 thencreates a map to output to the tactile pad 60.

The tactile pad 60 displays a series of raised buttons 65 on theleftmost and rightmost sides in accordance with the parameters set bythe user 1000. The raised buttons 65 on the leftmost and rightmost sidesof the tactile pad 60 indicate that the user 1000 is still surrounded bythe walls 200A and 200B. The obstacle 300 is still detectable by boththe ultrasonic sensors 40 and the infrared sensors 50. However, due tothe user 1000's forward motion the obstacle 300 is now substantiallyparallel to and behind the user 1000. The sensors 40 and 50 are onlycontacting the obstacle 300 at the farthest end of the right sweep.Therefore, the processor 110 interprets this information from thesensors and generates a map which displays the obstacle 300 as tworaised buttons 65 on the right side of the tactile pad 60 correspondingto the obstacle 300's location relative to the sensors 40 and 50. Theuser 1000 then interprets the raised buttons 65 on the tactile pad 60 asdistance and direction information to an obstacle.

While one exemplary embodiment of a method of using the apparatus 1 hasbeen described with relation to FIGS. 5A-11B additional exemplaryembodiments are within the scope of the present invention. The apparatus1 may be used in substantially any terrain and the method of operationmay be modified accordingly. In one exemplary embodiment the apparatus 1may be used to detect the presence of stairs along the user 1000's path.In another exemplary embodiment the apparatus 1 may be used to detectholes or depressions in the ground along the user 1000's path. In theexemplary embodiments wherein the apparatus 1 detects changes inelevation along the path of the user 1000, such as stairs ordepressions, etc., the processor 110 may activate the vibrator 130 as anadditional source of feedback information to the user 1000.

While the invention has been described with reference to a preferredembodiment or embodiments, it will be understood by those skilled in theart that various changes may be made and equivalents may be substitutedfor elements thereof without departing from the scope of the invention.In addition, many modifications may be made to adapt a particularsituation or material to the teachings of the invention withoutdeparting from the essential scope thereof. Therefore, it is intendedthat the invention not be limited to the particular embodiment disclosedas the best mode contemplated for carrying out this invention, but thatthe invention will include all embodiments falling within the scope ofthe appended claims.

1-10. (canceled)
 11. A method of operating an apparatus that describesto a user a layout of a three-dimensional environment, the methodcomprising: transmitting a set of sensing signals from respective onesof a pair of transmitters to the environment from a transmittingposition of the user; receiving a set of modified sensing signals fromelements within the environment; and operating a plurality of actuators,which are operatively coupled to a plurality of tactile buttons, inaccordance with the modified sensing signals to thereby controlrespective positions of the tactile buttons in real-time and to describeat least two spatial dimensions of the elements including a depththereof, which extends towards/away from the transmitting position, anda width thereof, which is perpendicular to the depth thereof.
 12. Themethod of claim 11, wherein the transmitting comprises transmitting atleast one ultrasonic sensing signal and at least one infrared sensingsignal.
 13. The method of claim 12, wherein, the transmitting comprisestransmitting two ultrasonic sensing signals, and the transmittingcomprises transmitting three infrared sensing signals.
 14. The method ofclaim 13, wherein the plurality of the actuators are arranged in asubstantially matrix shape.
 15. The method of claim 11, wherein thecontrolling of the position of the plurality of actuators furthercomprises: generating a map of the elements within the environment; andinstructing the plurality of actuators to project a tactile buttonconnected thereto to positionally correspond to a determination ofwhether a portion of the map corresponds to a position of one or more ofthe elements.
 16. The method of claim 15, wherein at least one of theprocessing the received modified sensing signal and the instructing theplurality of actuators are performed in real-time.
 17. (canceled)
 18. Amethod of operating an apparatus that describes to a user a layout of asurrounding three-dimensional (3D) environment, the method comprising:upon receipt of an initializing instruction from the user, transmittinga set of sensing signals from respective transmitters disposed along theapparatus to the environment from a transmitting position of the user;receiving a set of modified sensing signals from elements within theenvironment until receipt of an ending instruction from the user;repeating the sensing operation based on receipt of subsequentinitializing and ending instructions from the user; processing the setof modified sensing signals from each of the sensing operations tothereby generate a map of the elements in the three-dimensionalenvironment; and operating a plurality of actuators, which areoperatively coupled to a plurality of tactile buttons, in accordancewith the map to thereby control respective positions of the tactilebuttons in real-time and to describe a depth of the elements, whichextends towards/away from the transmitting position, and a width of theelements, which is perpendicular to the depth thereof.
 19. The methodaccording to claim 18, wherein the apparatus is selectively swung by theuser and the user selectively moves through the environment during thesensing operations, and wherein the processing comprises accounting forthe swinging of the apparatus and the movement of the user in thegeneration of the map.